wmbuilder.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef WMBUILDER_H
#define WMBUILDER_H
#include <soccer/soccertypes.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <oxygen/gamecontrolserver/baseparser.h>
#include "geometry.h"
#include "logserver.h"

using namespace Geometry;

enum VisionObject 
{
    VO_BALL = 0,
    VO_FLAG1L = 1, 
    VO_FLAG1R = 2, 
    VO_FLAG2L = 3, 
    VO_FLAG2R = 4,
    VO_GOAL1L = 5, 
    VO_GOAL1R = 6, 
    VO_GOAL2L = 7, 
    VO_GOAL2R = 8
};

class WMBuilder{
public:
    WMBuilder();
    ~WMBuilder();

public:
    // called from agent, to update the world model
    bool Init();    
    void Parse(const std::string& message);       
    
protected:    
    // three types of sensation
    void ParseGameState(const oxygen::Predicate& predicate);
    void ParseAgentState(const oxygen::Predicate& predicate);
    void ParseVision(const oxygen::Predicate& predicate);
    
    // sub-routine for GameState
    void ParsePlayMode(const oxygen::Predicate& predicate);
    void ParseTeamIndex(const oxygen::Predicate& predicate);
    
    // get vision sense of a static object
    VisionSense GetVisionSense(VisionObject obj);
    
    // self-locating
    float GetVariance(VisionObject vo);
    salt::Vector3f LocalizeWithOneFlag(VisionObject vo);
    salt::Vector3f Localize();
        
protected:
    typedef std::map<std::string, TPlayMode> TPlayModeMap;
    TPlayModeMap mPlayModeMap;
    
    typedef std::map<VisionObject, VisionSense> TVisionMap;
    TVisionMap mVisionMap;
    
    typedef std::map<std::string, VisionObject> TVisionObjectMap;
    TVisionObjectMap mVisionObjectMap;    
    
    // s-expression parser
    boost::shared_ptr<oxygen::BaseParser> mParser;    

    // temperory vision sense in current vision sense
    VisionSense mPlayerPositionSense[2][12]; // [0][mTeamUnum]

public:
    LogServer log;
};

#endif